Hi hoitzing,
don't struggle with that!
Do a INIT start !! (and maybe upgrade software)
This way you'll avoid a lot of problems!
(you have to know what to do after init start!)
For me it turns out that this is the easiest and shortest way to get an old robot running, because you don't have to care about old sysvar settings and progs!
Best
Hi MoEL,
posreg.va always shows a 'position' type(Matrix format) as a XYZWPR type!
I think on newer controllers there is really no need to use the 'position' type.
Change the $PRCARTREP var to true, at start of commisioning , and you're fine.
Hi MoEL,
R[2] = R[1]+10
PR[R[2]] = LPOS
..
R[1] = R[1]+10
PR[R[1]] = LPOS
or using only one local var:
R[10001] = R[10001]+10
PR[R[10001]] = LPOS
best
Hi YiSI,
1.How can I determine if the stored position(PR[100]) exceeds the arm's coordinate limits?"
1.1 IN_RANGE and check_epos builtin
2.How can I determine if an error state occurs while calling TP to execute?"
2.1 Maybe use the "Monitor" instruction inside you TP prog to
2.2 Checkout the '$ALM_IF' variable structure while running your tp prog.
check this post:
best
Hi YiSI,
don't use Karel to move the robot!
Call a TP program from Karel.
You can change acceleration with
ACC command:
L PR[1] 100mm/sec FINE ACC75or indirect:
L PR[1] 100mm/sec FINE ACC R[10]So you can change your ACC value even at runtime.
Hi YiSI,
do you mean something like SRVO ON and SRVO OFF ??
This is not possible and not needed.
(The 'RESET' signal will bring up all servos)
Or are you using an extended or external Axis?
If so, there is a function to connect and disconn servo..
Is it possible to change any parameters so that it does a controlled stop?
As far as I remember, this is not possible with RJ3.
But do you really want to operate a single-channel system?
- You have to use %nolockgroup
- Maybe use a queue and/or semaphore or handshakes?
Hi Rex Tyrran,
No chance.
Controllers before R30iBPlus are using ActiveX controls for CGTP/Monitor/iRVision.
So you need (at least under the hood) iexplore!
That's why I have created this legacy browser:
You have to install the iPendant controls anyway. (included within RG)
best
PnsStarter
Solved
How/ What was the problem, exactly?
Hi krgaurav22,
I think you should abstract the code more:
- one Karel prog for communication with python prog(socket messaging is always blocking...)
- this program only does communication and forwards commands to another prog
- a second karel prog which can process commands etc. and then starts (indirect) other programs if necessary, sets string registers and reacts on errors in the system and sends them back to the first prog, and this again to the python prog
- a TP program as "main prog"($TP_DEFPROG) which starts e.g. motion programs via SR.
: CALL SR[1]; -- SR[1] is set by karel prog
best
Teaching pendant shows the error but not the code.
What do expect?
You are only calling the tp program.
To get error's you have to monitor(e.g. second task) the robot, and receive (all) the errors.
- Checkout the '$ALM_IF' variable structure while running your tp prog.
- Check the 'fanucpy' documentation if something is already implemented...
best regards
Hi krgaurav22,
Unfortunately, I can not reproduce your problem.
I just tried this in RG, and as I expected, the called TP prog also "throws" an error.
It's
~32k bytes r30iB
~64k bytes r30iB+
Okay,
.
You tried RG and actual robot?
Let's wait for fanuc ..
As a general rule, only change, if at all, variables whose functionality you really know and only when it is really necessary.
How does the sytem is working with this var-structure? Are you sure you can set this var by a program?
Hi niram83
I haven't seen this before.
What option is it? ..sensor..?!
What are the errors, posted by your system, of folowing code?
SET_VAR(ent1, '*SYSTEM*','$XSP_SCH[1].$SENSOR[2].$TRACK.$CORE.$BIAS.$VECTOR.$X',valz,status);
IF status <>0 THEN; POST_ERR(status,'',0,1); ENDIF;
and
SET_VAR(ent1, '*SYSTEM*','$XSP_SCH[1].$SENSOR[2].$TRACK.$CORE.$BIAS.$VECTOR.X',valz,status);
IF status <>0 THEN; POST_ERR(status,'',0,1); ENDIF;
Hi niram83,
please use(!) the status var. This will give you more information.
Try this to get an error with info:
SET_VAR(ent1, '*SYSTEM*','$XSP_SCH[1].$SENSOR[2].$TRACK.$CORE.$JNT_ID',val,status)
IF status <>0 THEN; POST_ERR(status,'',0,0); ENDIF;
best
I need help setting %MAXREGNUM in [*NUMREG*] using CM.
I also didn't got thit to work.
The only way was to setup the var via karel 
